Semblance processing for an acoustic measurement-while-drilling system for imaging of formation boundaries

ABSTRACT

The present invention provides a system for drilling boreholes having a downhole subassembly which contains an acoustic measurement-while-drilling system. It uses the acoustic velocity through the formations surrounding the borehole and an acoustic transmitter and a set of receivers for determining the bed boundaries surrounding the borehole formation. An acoustic isolator on the tool may be used to attenuate body waves traveling between the transmitter and the receivers. Additional attenuation of the body waves is provided by a threshold filter based upon the absolute maximum of the received signals. Semblance of the data is determined in a slowness/intercept-time domain. Coherence and semblance filtering methods are used to differentiate between reflection signals and noise. The position and orientation of the bed boundary relative to the tool are determined. A further processing step uses the relative position and orientation determined for a number of tool positions to further discriminate against noise and obtain an absolute position and depth of the bed boundaries.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation-in-part of U.S. patent applicationSer. No. 09/112,255 filed on Jul. 8, 1998, now U.S. Pat. No. 6,023,443,which is a continuation-in-part of U.S. patent application, Ser. No.08/789,230, filed Jan. 24, 1997 now U.S. Pat. No. 6,088,294.

BACKGROUND OF THE INVENTION

1. Field of the Invention

This invention relates generally to systems for drilling boreholes forthe production of hydrocarbons and more particularly to a drillingsystem having an acoustic measurement-while-drilling (“MWD”) system aspart of a bottomhole assembly for measuring acoustic velocities ofsubsurface formations during drilling of the wellbores and determiningthe location of formation bed boundaries around the bottornholeassembly. Specifically, this invention relates to the imaging of bedboundaries using semblance techniques in an MW system. The tool isprovided with acoustic isolators for attenuation of signals travelingthrough the body of the tool. This, combined with processing to reducethe body waves, enables the present invention to increase thesignal-to-noise ratio in the imaging of bed boundaries. For the purposesof this invention, the term “bed boundary” is used to denote a geologicbed boundary, interface between layers having an acoustic impedancecontrast, or a subsurface reflection point.

2. Description of the Related Art

To obtain hydrocarbons such as oil and gas, boreholes or wellbores aredrilled through hydrocarbon-bearing subsurface formations. A largenumber of the current drilling activity involves drilling “horizontal”boreholes. Advances in the MWD measurements and drill bit steeringsystems placed in the drill string enable drilling of the horizontalboreholes with enhanced efficiency and greater success. Recently,horizontal boreholes, extending several thousand meters (“extendedreach” boreholes), have been drilled to access hydrocarbon reserves atreservoir flanks and to develop satellite fields from existing offshoreplatforms. Even more recently, attempts have been made to drillboreholes corresponding to three-dimensional borehole profiles. Suchborehole profiles often include several builds and turns along the drillpath. Such three dimensional borehole profiles allow hydrocarbonrecovery from multiple formations and allow optimal placement ofwellbores in geologically intricate formations.

Hydrocarbon recovery can be maximized by drilling the horizontal andcomplex wellbores along optimal locations within thehydrocarbon-producing formations (payzones). Crucial to the success ofthese wellbores is (1) to establish reliable stratigraphic positioncontrol while landing the wellbore into the target formation and (2) toproperly navigate the drill bit through the formation during drilling.In order to achieve such wellbore profiles, it is important to determinethe true location of the drill bit relative to the formation bedboundaries and boundaries between the various fluids, such as the oil,gas and water. Lack of such information can lead to severe “dogleg”paths along the borehole resulting from hole or drill path correctionsto find or to reenter the payzones. Such wellbore profiles usually limitthe horizontal reach and the final wellbore length exposed to thereservoir. Optimization of the borehole location within the formationcan also have a substantial impact on maximizing production rates andminimizing gas and water coming problems. Steering efficiency andgeological positioning are considered in the industry among the greatestlimitations of the current drilling systems for drilling horizontal andcomplex wellbores. Availability of relatively precise three-dimensionalsubsurface seismic maps; location of the drilling assembly relative tothe bed boundaries of the formation around the drilling assembly cangreatly enhance the chances of drilling boreholes for maximum recovery.Prior art downhole lack in providing such information during drilling ofthe boteholes.

Modem directional drilling systems usually employ a drill string havinga drill bit at the bottom that is rotated by a drill motor (commonlyreferred to as the “mud motor”). A plurality of sensors and MWD devicesare placed in close proximity to the drill bit to measure certaindrilling, borehole and formation evaluation parameters. Such parametersare then utilized to navigate the drill bit along a desired drill path.Typically, sensors for measuring downhole temperature and pressure,azimuth and inclination measuring devices and a formation resistivitymeasuring device are employed to determine the drill string andborehole-related parameters. The resistivity measurements are used todetermine the presence of hydrocarbons against water around and/or ashort distance in front of the drill bit. Resistivity measurements aremost commonly utilized to navigate or “geosteer” the drill bit. However,the depth of investigation of the resistivity devices usually extends to2-3 meters. Resistivity measurements do not provide bed boundaryinformation relative to the downhole subassembly. Furthermore, errormargin of the depth-measuring devices, usually deployed on the surface,is frequently greater than the depth of investigation of the resistivitydevices. Thus, it is desirable to have a downhole system which canrelatively accurately map the bed boundaries around the downholesubassembly so that the drill string may be steered to obtain optimalborehole trajectories.

Thus, the relative position uncertainty of the wellbore being drilledand the critical near-wellbore bed boundary or contact is defined by theaccuracy of the MWD directional survey tools and the formation dipuncertainty. MWD tools are deployed to measure the earth's gravity andmagnetic field to determine the inclination and azimuth. Knowledge ofthe course and position of the wellbore depends entirely on these twoangles. Under normal operating conditions, the inclination measurementaccuracy is approximately plus or minus 0.2°. Such an error translatesinto a target location uncertainty of about 3.0 meters per 1000 metersalong the borehole. Additionally, dip rate variations of several degreesare common. The optimal placement of the borehole is thus very difficultto obtain based on the currently available MWD measurements,particularly in thin payzones, dipping formation and complex wellboredesigns.

Recently, PCT application No. PCT/NO/00183 filed by Statoil Corp.disclosed the use of acoustic sensors having a relatively short spacingbetween the receivers and the transmitter to determine the formation bedboundaries around the downhole subassembly. An essential element indetermining the bed boundaries is the determination of the travel timeof the reflection acoustic signals from the bed boundaries or otherinterface anomalies. This application proposes utilizing estimates ofthe acoustic velocities obtained from prior seismic data or offsetwells. Such acoustic velocities are not very precise because they areestimates of actual formation acoustic velocities. Also, since the depthmeasurements can be off by several meters from the true depth of thedownhole subassembly, it is highly desirable to utilize actual acousticformation velocities determined downhole during the drilling operationsto determine the location of bed boundaries relative to the drill bitlocation in the wellbore.

Additionally, for acoustic or sonic sensor measurements, the mostsignificant noise source is due to acoustic signals traveling from thesource to the receivers via the metallic tool housing (commonly referredto as the “body waves”) and the mud column surrounding the downholesubassembly (commonly referred to as the “tube waves”). The Statoilapplication discloses acoustic sensor designs to achieve a certainamount of directivity of signals. It also discloses a transmittercoupling scheme and signal processing method for reducing the effects ofthe tube wave and the body waves. Such methods, however, alone do notprovide sufficient reduction of the tube and body wave effects,especially due to strong direct coupling of the acoustic signals betweenthe transmitters and their associated receivers.

The present invention addresses the above-noted needs and provides asystem for drilling boreholes wherein the bottomhole subassemblyincludes an acoustic MWD system having one acoustic sensor arrangementthat is utilized to determine the acoustic velocities of the boreholeformations during drilling and another acoustic sensor arrangement fordetermining bed boundary information based on the formation acousticvelocities measured downhole. Novel acoustic sensor arrangements aredisclosed for relatively precisely determining the bed boundaryinformation. A semblance based technique processes the measuredreflections from the bed boundaries and determines the position andorientation of the bed boundaries with respect to the borehole tool.Those versed in the art would recognize that in acoustic measurementdevices used in MWD environments, the drillbit is a source of strongacoustic signals that travel through the body of the drilling assembly.Body waves are also produced by the acoustic transmitter. These bodywaves, and tube waves traveling through the borehole, typically have alarge amplitude in comparison with acoustic signals waves in theformation that are used in imaging the bed boundaries. In the presentinvention, acoustic isolators between the transmitters and theirassociated receivers are provided to reduce the body wave and tube waveeffects. Any number of additional MWD devices or sensors may be includedin the bottomhole assembly to obtain additional information about theborehole and the surrounding formations. A steering device or system isincluded in the bottomhole assembly which can be operated downholeand/or from the surface to steer the drill bit to drill the wellborealong the desired path.

The system of the present invention correlates measurements from thevarious MWD devices and sensors to provide parameters of interestrelating to the drilling operations and formation evaluation. The bedboundary information may be utilized to map the borehole profile, toupdate or modify seismic data stored in the downhole subassembly and tosteer the drill bit so as to obtain the desired borehole profile. Thebed boundary and other information computed downhole may be storeddownhole for later retrieval and use. Additionally, selected parametersof interest and other information are transmitted to the surface duringthe drilling operations to aid the driller in controlling the drillingoperations including accurately geosteering the drill string.

SUMMARY OF THE INVENTION

The present invention provides a method of accurately imaging bedboundaries using acoustic signals from a transmitter in the downholeassembly that are received at a plurality of receivers, also part of thedownhole assembly. The system includes a drill string having a drill bitand a downhole subassembly having a plurality of sensors andmeasurement-while-drilling devices, a downhole computing system and atwo-way telemetry system for computing downhole bed boundary informationrelative to the downhole subassembly. The downhole subassembly includesan acoustic MWD system which contains a first set of acoustic sensorsfor determining the formation acoustic velocities during drilling of thewellbore and a second set of acoustic sensors that utilizes the acousticvelocities measured by the system for determining bed boundaries aroundthe downhole subassembly. A computing system is provided within thedownhole subassembly which processes downhole sensor information andcomputes the various parameters of interest including the bedboundaries, during drilling of the wellbore.

In one embodiment, the first and second sets (arrangements) of acousticsensors contain a transmitter and a receiver array, wherein thetransmitter and some of the receivers in the receiver array are commonto both sets of acoustic sensors. Each receiver in the receiver arrayfurther may contain one or more individual acoustic sensors. In oneconfiguration, the distance between the transmitter and the farthestreceiver in one of the acoustic sensor sets is substantially greaterthan the distance between the transmitter and center of the receivers inthe second set. The downhole computing system contains programmedinstructions, models, algorithms and other (supplemental) information,including information from prior drilled boreholes, geologicalinformation about the subsurface formations and the borehole drill path.

In an alternative embodiment, the acoustic system contains a commontransmitter and identical acoustic receiver arrays placed symmetricallyon either side of the transmitter axially along the downholesubassembly. In one configuration of such embodiment, a separate.stabilizer is placed equidistant between the transmitter and each of thereceiver arrays to cause substantially the same amount of reflections ofthe transmitted acoustic signals. The symmetrical arrangement aids insubstantially reducing the effects of the body wave acoustic noise, tubewave acoustic noise associated with the acoustic system and otheracoustic waves (compressional waves, shear waves, etc.) propagatingalong the borehole. Additionally, acoustic isolators may be placedbetween the transmitter and each of the receiver arrays to dampen thedirect acoustic signals between the transmitter and receives and toincrease the travel time therebetween so as to reduce the effect of bodywaves and tube waves on the receivers.

The acoustic system of the present invention determines the actualformation velocities downhole during drilling of the wellbore ad thenutilizes such formation velocities to determine the bed boundariesaround the downhole subassembly. The drill bit location is computeddownhole or is provided to the downhole subassembly from surfacemeasurements. The bed boundary information is utilized to geosteer thedrill string so as to maintain the borehole at a desired place withinthe formation. The acoustic velocity and bed boundary information isutilized to correct or update seismic maps and to correlate measurementsfrom other MWD measurements.

The present invention also provides a method for drilling a boreholeutilizing a downhole subassembly having a first and second acousticsensor arrangement and a computing system for computing measurementsdownhole during the drilling of the borehole. The method comprises: (a)conveying the downhole subassembly along the wellbore; (b) determiningdownhole, by the computing system, the velocity of acoustic signalsthrough formations near the downhole subassembly from measurements madefrom the first acoustic sensor arrangement; and (c) determiningdownhole, by the computing system, bed boundaries of the formations frommeasurements from the second acoustic sensor arrangement and thedetermined acoustic, velocities in accordance with programmedinstructions provided to the computing system. The drilling direction isadjusted based on the location of the downhole assembly in relation tothe formation bed boundaries.

Examples of the more important features of the invention thus have beensummarized rather broadly in order that the detailed description thereofthat follows may be better understood, and in order that thecontributions to the art may be appreciated. There are, of course,additional features of the invention that will be described hereinafterand which will form the subject of the claims appended hereto.

BRIEF DESCRIPTION OF THE DRAWINGS

For detailed understanding of the present invention, references shouldbe made to the following detailed description of the preferredembodiment, taken in conjunction with the accompanying drawings, inwhich like elements have been given like numerals and wherein:

FIG. 1 shows a schematic diagram of a drilling system having a drillstring that includes an acoustic sensor system according to the presentinvention.

FIG. 2 shows a functional block diagram of the major downhole elementsof the system shown in FIG. 1.

FIG. 3a shows an embodiment of the acoustic sensor system for use in thesystem of the present invention.

FIG. 3b shows an alternative embodiment of the acoustic sensor systemfor use in the system of the present invention.

FIG. 4 shows an acoustic sensor system for use in the system of FIG. 1.

FIG. 5 shows a schematic diagram of reflection signals from a boundarydetected in the sensor system of FIG. 4

FIG. 6 shows a coherency display of the data of FIG. 5.

FIG. 7 is a schematic diagram illustrating raypaths from the source tothe receiver reflected from a bed boundary in the sensor system of FIG.4

FIG. 8 is a functional block diagram of a the steps of the presentinvention for determining the position of a bed boundary.

FIG. 9 is a schematic diagram showing semblance data at an intermediatestep of FIG. 8.

FIG. 10 is a schematic diagram of the histograms that are analyzed inthe processing of the semblance data.

FIG. 11 is a schematic diagram illustrating the display of intermediateresults that are used to determine the bed boundary.

FIG. 12 is an illustration of body wave arrivals within a gate.

FIGS. 13A, 13B are illustrative semblance plots without (13A) and with(13) threshold filtering.

DESCRIPTION OF THE PREFERRED EMBODIMENT

In general, the present invention provides a drilling system fordrilling of boreholes. The drilling system contains a drill stringhaving a downhole subassembly that includes a drill bit at its bottomend and a plurality of sensors and MWD devices, including an acousticMWD system having a first set of acoustic sensors for determining theformation acoustic velocity while drilling the borehole and a second setof acoustic sensors for determining the bed boundaries by utilizing theacoustic velocity measurements made by the first set of acousticsensors. A downhole computer and associated memory are provided forcomputing various downhole operating parameters, to map the formationaround the downhole subassembly, to update stored models and data as aresult of the computed parameters and to aid the driller in navigatingthe drill string along a desired wellbore profile.

The system of the invention also preferably includes devices fordetermining the formation resistivity, gamma ray intensity of theformation, the drill string inclination and the drill string azimuth,nuclear porosity of the formation and the formation density. The drillstring may contain other MWD devices known in the art for providinginformation about the subsurface geology, borehole conditions and mudmotor operating parameters, such as the differential pressure across themud motor, torque and the condition of the bearing assembly. Selecteddata is transmitted between the downhole subassembly and surfacecomputing apparatus via a two-way telemetry system. The surfacecomputing apparatus transmits signals to the downhole subassembly forcontrolling certain desired operations and also for processing thereceived data according to programmed instruction to improve thedrilling operations.

FIG. 1 shows a schematic diagram of a drilling system 10 having adownhole assembly containing an acoustic sensor system and the surfacedevices according to one embodiment of present invention. As shown, thesystem 10 includes a conventional derrick 11 erected on a derrick floor12 which supports a rotary table 14 that is rotated by a prime mover(not shown) at a desired rotational speed. A drill string 20 thatincludes a drill pipe section 22 extends downward from the rotary table14 into a borehole 26. A drill bit 50 attached to the drill stringdownhole end disintegrates the geological formations when it is rotated.The drill string 20 is coupled to a drawworks 30 via a kelly joint 21,swivel 28 and line 29 through a system of pulleys 27. During thedrilling operations, the drawworks 30 is operated to control the weighton bit and the rate of penetration of the drill string 20 into theborehole 26. The operation of the drawworks is well known in the art andis thus not described in detail herein.

During drilling operations a suitable drilling fluid (commonly referredto in the art as “mud”) 31 from a mud pit 32 is circulated underpressure through the drill string 20 by a mud pump 34. The drillingfluid 31 passes from the mud pump 34 into the drill string 20 via adesurger 36, fluid line 38 and the kelly joint 21. The drilling fluid isdischarged at the borehole bottom 51 through an opening in the drill bit50. The drilling fluid circulates uphole through the annular space 27between the drill string 20 and the borehole 26 and is discharged intothe mud pit 32 via a return line 35. Preferably, a variety of sensors(not shown) are appropriately deployed on the surface according to knownmethods in the art to provide information about various drilling-relatedparameters, such as fluid flow rate, weight on bit, hook load, etc.

A surface control unit 40 receives signals from the downhole sensors anddevices via a sensor 43 placed in the fluid line 38 and processes suchsignals according to programmed instructions provided to the surfacecontrol unit. The surface control unit displays desired drillingparameters and other information on a display/monitor 42 whichinformation is utilized by an operator to control the drillingoperations. The surface control unit 40 contains a computer, memory forstoring data, data recorder and other peripherals. The surface controlunit 40 also includes models and processes data according to programmedinstructions and responds to user commands entered through a suitablemeans, such as a keyboard. The control unit 40 is preferably adapted toactivate alarms 44 when certain unsafe or undesirable operatingconditions occur.

A drill motor or mud motor 55 coupled to the drill bit 50 via a driveshaft (not shown) disposed in a bearing assembly 57 rotates the drillbit 50 when the drilling fluid 31 is passed through the mud motor 55under pressure. The bearing assembly 57 supports the radial and axialforces of the drill bit, the downthrust of the drill motor and thereactive upward loading from the applied weight on bit. A stabilizer 58coupled to the bearing assembly 57 acts as a centralizer for thelowermost portion of the mud motor assembly.

In the preferred embodiment of the system of present invention, thedownhole subassembly 59 (also referred to as the bottomhole assembly or“BHA”) which contains the various sensors and MWD devices to provideinformation about the formation and downhole drilling parameters and themud motor, is coupled between the drill bit 50 and the drill pipe 22.The downhole assembly 59 preferably is modular in construction, in thatthe various devices are interconnected sections so that the individualsections may be replaced when desired.

Still referring back to FIG. 1, the BHA also preferably contains sensorsand devices in addition to the above-described sensors. Such devicesinclude a device for measuring the formation resistivity near and/or infront of the drill bit, a gamma ray device for measuring the formationgamma ray intensity and devices for determining the inclination andazimuth of the drill string. The formation resistivity measuring device64 is preferably coupled above the lower kick-off subassembly 62 thatprovides signals, from which resistivity of the formation near or infront of the drill bit 50 is determined. One resistivity measuringdevice is described in U.S. Pat. No. 5,001,675, which is assigned to theassignee hereof and is incorporated herein by reference. This patentdescribes a dual propagation resistivity device (“DPR”) having one ormore pairs of transmitting antennae 66a and 66b spaced from one or morepairs of receiving antennae 68 a and 68 b. Magnetic dipoles are employedwhich operate in the medium frequency and lower high frequency spectrum.In operation, the transmitted electromagnetic waves are perturbed asthey propagate through the formation surrounding the resistivity device64. The receiving antennae 68 a and 68 b detect the perturbed waves.Formation resistivity is derived from the phase and amplitude of thedetected signals. The detected signals are processed by a downholecircuit that is preferably placed in a housing 70 above the mud motor 55and transmitted to the surface control unit 40 using a suitabletelemetry system 72.

The inclinometer 74 and gamma ray device 76 are suitably placed alongthe resistivity measuring device 64 for respectively determining theinclination of the portion of the drill string near the drill bit 50 andthe formation gamma ray intensity. Any suitable inclinometer and gammaray device, however, may be utilized for the purposes of this invention.In addition, an azimuth device (not shown), such as a magnetometer or agyroscopic device, may be utilized to determine the drill stringazimuth. Such devices are known in the art and are, thus, not describedin detail herein. In the above-described configuration, the mud motor 55transfers power to the drill bit 50 via one or more hollow shafts thatrun through the resistivity measuring device 64. The hollow shaftenables the drilling fluid to pass from the mud motor 55 to the drillbit 50. In an alternate embodiment of the drill string 20, the mud motor55 may be coupled below resistivity measuring device 64 or at any othersuitable place.

U.S. Pat. No. 5,325,714 to Lende, assigned to the assignee hereof, whichis incorporated herein by reference, discloses placement of aresistivity device between the drill bit and the mud motor. The abovedescribed resistivity device, gamma ray device and the inclinometer arepreferably placed in a common housing that may be coupled to the motorin the manner described in U.S. Pat. No. 5, 325,714. Additionally, U.S.patent application Ser. No. 08/212,230, assigned to the assignee hereof,which is incorporated herein by reference, discloses a modular systemwherein the drill string contains modular assemblies including a modularsensor assembly, motor assembly and kick-off subs. The modular sensorassembly is disposed between the drill bit and the mud motor asdescribed herein above. The present invention preferably utilizes themodular system as disclosed in U.S. Serial No. 08/212,230.

The downhole assembly of the present invention preferably includes a MWDsection 78 which contains a nuclear formation porosity measuring device,a nuclear density device and an acoustic sensor system placed above themud motor 64 in the housing 78 for providing information useful forevaluating and testing subsurface formations along borehole 26. Thepreferred configurations of the acoustic sensor system are describedlater with reference to FIGS. 3a, 3 b and 5 a The present invention mayutilize any of the known formation density devices. U.S. Pat. No.5,134,285, which is assigned to the assignee hereof and which isincorporated herein by reference, discloses a formation density devicethat employs a gamma ray source and a detector which may be utilized inthe system of the present invention. In use, gamma rays emitted from thesource enter the formation where they interact with the formation andattenuate. The attenuation of the gamma rays is measured by a suitabledetector from which density of the formation is determined.

The porosity measurement device preferably is the device generallydisclosed in U.S. Pat. No. 5,144,126, which is assigned to the assigneehereof and which is incorporated herein by reference. This deviceemploys a neutron emission source and a detector for measuring theresulting gamma rays. In use, high energy neutrons are emitted into thesurrounding formation. A suitable detector measures the neutron energydelay due to interaction with hydrogen and atoms present in theformation. Other examples of nuclear logging devices are disclosed inU.S. Pat. Nos. 5,126,564 and 5,083,124.

The above-noted devices transmit data to the downhole telemetry system72, which in turn transmits the received data uphole to the surfacecontrol unit 40. The downhole telemetry also receives signals and datafrom the uphole control unit 40 and transmits such received signals anddata to the appropriate downhole devices. The present inventionpreferably utilizes a mud pulse telemetry technique to communicate datafrom downhole sensors and devices during drilling operations. Atransducer 43 placed in the mud supply line 38 detects the mud pulsesresponsive to the data transmitted by the downhole telemetry 72.Transducer 43 generates electrical signals in response to the mudpressure variations and transmits such signals via a conductor 45 to thesurface control unit 40. Other telemetry techniques such electromagneticand acoustic techniques or any other suitable technique may be utilizedfor the purposes of this invention.

FIG. 2 shows a functional block diagram of the major elements of thedownhole subassembly 59 and further illustrates the data communicationpaths between the various system elements. It should be noted that FIG.2 illustrates only one arrangement of the elements and a system of datacommunication therebetween. Other arrangements may be utilized equallyeffectively for the purpose of this invention. For convenience, thesensors for determining the downhole operating conditions and thedownhole assembly health are denoted by S₁-S_(J), the acoustic sensorsystem is denoted by numeral 160 while the remaining downhole MWDdevices, such as the nuclear, electromagnetic, directional and the like,are denoted by d₁-d_(m). The sensors S₁-S_(j), MWD devices d₁-d_(m) andthe desired acoustic sensor system 160 are arranged within the downholesubassembly in a desired manner. During operation, a predeterminednumber of discrete data points output from the sensors and MWD devicesare stored within a buffer which, in FIG. 2, is included as apartitioned portion of the memory capacity of the computer 150.Alternatively, the buffer storage can comprise a separate element (notshown).

Sensor response relationships or “models” for the acoustic sensor systemand other sensors in the downhole subassembly are preferably stored in amemory 148. These models are determined mathematically and/or bymeasuring responses of the sensors in a known test formations. Inaddition, other reference data such as data defining the targetedformations to be drilled, seismic data, offset well data is preferablystored downhole in the memory 148. A two-way data and command signalcommunications are provided between the computer 150 and the memory 148.The responses from the sensors S₁-S_(j), d₁-d_(m) and 160 aretransmitted to the computer 150 wherein they are transformed intoparameters of interest or answers as described later. The downholeelectronics for processing signals downhole and to perform othercomputations includes the computer or controller 150, memory 145 and146, and other desired components, such as signals processors,amplifiers, etc. (not shown). For simplicity, the use of such componentsis known and are thus, not included in FIG. 2.

Still referring to FIG. 2, the parameters of interest are transmitted tothe surface via the up-link telemetry path 127 or stored in the memory146 for subsequent retrieval at the surface. Since the acoustic sensorsystem 160 and other sensors 152 and d₁-d_(m) are placed axially alongthe downhole subassembly, their responses do not correspond to the samemeasure point within the borehole 26 (see FIG. 1). Prior to combining orcorrelating the data from different sensors, the computer 150 shifts thedata to a common depth point. Also, the various devices d₁-d_(m) do notnecessarily exhibit the same vertical resolution. Therefore, verticalresolution matching is performed by the computer 150 before combining orcorrelating measurements from different sensors.

Once computed from the depth-shifted and resolution-matched data, theparameters of interest are then passed to the downhole portion of thetelemetry system 142 and subsequently telemetered to the surface by asuitable up-link telemetry means illustrated conceptually by the brokenline 127. The power source 144 supplies power to the telemetry element142, computer 150, memories 146 and 148 and associated control circuits(not shown). Information from the surface is transmitted over thedownlink telemetry path illustrated conceptually by the broken arrow 129to the downhole receiving element of the downhole telemetry unit 142,and then transmitted to the data storage unit 148 for subsequent use.

FIG. 3a is a schematic diagram of a portion 200 of the downholesubassembly showing an embodiment of the acoustic system of the presentinvention placed in the MWD section 78 shown in FIG. 1. The subsystem ofFIG. 3a is preferably placed between the mud motor 55 and the downholetelemetry section 72. The subsystem 200 contains a nuclear densitydevice 202 and a nuclear porosity device 204 of the type describedearlier, separated by an acoustic isolator section 206. The densitydevice 202 and the porosity device 204 may be enclosed in a commonhousing 208 or formed as individual sections or modules. A firstacoustic transmitter or a set of transmitters T₁ is placed between thedensity device 202 and the first isolator 206. A second acoustictransmitter or set of transmitters T₂ is placed past the porosity deviceand a second acoustic isolator 210. A plurality of acoustic receiversR1-Rn are placed axially spaced from each other between the transmittersT₁ and T₂. The distance d₂ between the transmitter T₁ and the center ofthe far receiver of the array 212 is preferably less than four and onehalf (4.5) meters while the distance d₁ between transmitter T₂ and thenear receiver of the array 212 is no less than ten (10) centimeters.

Each of the transmitters and the receivers are coupled to electroniccircuitry (not shown) which causes the acoustic transmitters to generateacoustic pulses at predetermined time intervals and the receivers toreceive any reflected acoustic signals from the borehole formations. Inone mode of operation, the acoustic system for determining the formationacoustic velocities is selectively activated when drilling and theacoustic system for determining the bed boundary information isactivated when the drilling activity is stopped so as to substantiallyreduce acoustic noise generated by the drill bit. In an alternative modeof operation, both the velocity and bed boundary measurements may bewhile the drilling is in progress. Other suitable modes of operation mayalso be utilized in the system of the present invention.

In the present system, an array of two or more receivers is preferredover a smaller number of receivers to obtain more accurate acousticmeasurements. It is known that the quality of acoustic measurements maybe enhanced by utilizing receiver arrays having a large number ofreceivers. In operation, the transmitters are preferably energizedseveral times over a known time period and the received signals arestacked to improve resolution. Such data processing techniques are knownin the art and are thus not described in detail herein. The transmitterT₁ is preferably operated at a preselected frequency between 5 to 20 KHzwhile the transmitter T₂ is operated at a frequency between 100 Hz to 5KHz. The downhole computer 150 determines the time of travel of theacoustic signals and thus the velocity of the acoustic signals throughthe formation by processing signals from the first transmitter T₁ andthe receivers 212 by utilizing any of the methods known in the art. Thecomputer then determines the distance between a measure point in thesubassembly 200 and the bed boundaries around the downhole subassemblyfrom data received by the receivers in response to the signalstransmitted by the transmitter T₂ and by utilizing the actual acousticvelocity measurements determined by the computer.

As noted previously, the distance d₂ is preferably less than 4.5 meters,which has been determined in the art to be sufficient for determiningthe acoustic velocities through the formations surrounding thetransmitter and receiver array. However, large distance between thetransmitter and receiver is detrimental in that the tube waves and bodywaves may constitute dominant signals received by the receivers, whichare then filtered or removed by mathematical techniques known in theart, prior to processing the signals reflected from the bed boundaries.In order to reduce the effects of the body waves, acoustic isolators 206and 210 are respectively placed between the transmitters T₁ and T₂ andthe receivers. A portion of the isolator preferably extends beyond thehousing 211, i.e., into the annulus between the borehole and thedownhole subassembly so as to dampen or reduce the direct couplingeffect of the tube waves. The transmitters may be operated by sweepingthe frequencies within their respective ranges or may be operated atdifferent discrete multiple frequencies to remove the noise and tothereby improve the signal quality. The downhole computer 150 may beprogrammed to operate the acoustic sensor systems at the desiredfrequencies and the desired time intervals. The frequency used typicallydepends upon the depth of investigation and resolution desired for aparticular application.

The acoustic system embodiment of FIG. 3a shows two transmitter and asingle receiver array. Some or all of the receivers in the array may beutilized as the short-spaced receivers and similarly some or allreceivers in the array may be utilized as the long-spaced receivers. Theacoustic elements in the present invention may be configured to containa single transmitter and a short-spaced receiver or receiver array and along-spaced receiver or receiver array as shown in FIG. 3b. In such aconfiguration, the single transmitter T is preferably placed at one endof the subassembly and a near receiver array (R_(near)) 220 havingreceivers R₁-R_(m) is placed at a distance d₁ and a far receiver array(R_(far)) 222 having receivers R′₁-R′_(n) is placed at a distance d₂from the transmitter T. The acoustic isolator 224 in this configurationis placed between the transmitter T and the long-spaced receiver array222. The single transmitter T may be operated during one time intervalat a first frequency or set of frequencies for the short-spacedreceivers 220 and operated in a second time interval at a secondfrequency or set of frequencies for the long-spaced receivers 222. Inthe configurations shown in FIG. 3a-b, all of the acoustic sensors areplaced above the mud motor 55. Alternatively, some of the receivers maybe placed above the mud motor and the others below the mud motor.

The processing of the data for imaging bed boundaries is shown by meansof an example. FIG. 4 is a schematic illustration of an embodiment 230between two boundaries 234 and 236. The device has a single transmitter232 and four receivers r1, r2, r3 and r4. The four receivers shown arefor exemplary purposes only and in a preferred embodiment, morereceivers may be used. Also shown are raypaths 238, 240 for waves fromthe transmitter that are reflected at the boundary 234 and received byreceivers r1, r2. In addition, raypaths 242, 244 for waves from thetransmitter that are reflected at the boundary 236 and received byreceivers r1, r2 are also indicated.

FIG. 5 shows signals that would be received at the receivers r1-r4corresponding to reflections from the boundary 236 below the device. Theabscissa is the travel time and the ordinate is the distance between thesource and the receiver. The traces 260 a-260 d are received signalscorresponding to reflected waves from the boundary 236. The waves couldbe compressional waves or shear waves, each type of wave having adifferent velocity of propagation and hence a different arrival time atthe reflector. FIG. 6 shows the result of transforming the signals shownin FIG. 5 to a slowness—minimum offset time domain. Plotted are contours290 showing the semblance of the traces 260 a-260 d in the transformeddomain. The contour plot is for purposes of simplifying the illustrationhere: other types of displays, such as color coding or gray-scaledisplays of the semblance are used to make the subsequent interpretivesteps easier.

The semblance of a set of signals f_(i) (j) is given by $\begin{matrix}{{{Sem}( {T,S,w} )} = \frac{\sum\limits_{i = 1}^{n}\quad ( {\sum\limits_{j = t_{i}}^{j = {t_{j} + w}}\quad {f_{i}(j)}} )^{2}}{\sum\limits_{i = 1}^{n}\quad {\sum\limits_{j = t_{i}}^{\quad}\quad {f_{1}^{2}(j)}}}} & (1)\end{matrix}$

where w=W/SR, W being the length of the time window and SR is the timesampling rate, S is the slowness, t_(i)={T+S*(D_(i)−D₁)}/SR, D_(i) isthe distance from the source to the i-th receiver, and n is the numberof receivers.

The semblance is basically a measure of the similarity of the traces,such as that shown in FIG. 5, along lines of constant slope. One suchline is shown as 270 in FIG. 5 and corresponds to the peak of thecontour values indicated by 300 in FIG. 6.

The relation between the travel times at the different receivers can beseen with reference to FIG. 7. A source S is shown at a distance d froma bed boundary 236. Raypaths 342, 344 from the source to two receiversR1, R2 for a reflection from the bed boundary 236 are indicated. Thetool axis S-R1-R2 is inclined at an angle α to the bed boundary, givingan angle β between the tool and the normal to the bed boundary as π/2-α.Denoting by S′ the image point of the source in the reflector, thetravel time from the source to the i-th receiver is given by

T _(i)={square root over ((2+L d²+L +D_(i) ²31 2+L (2+L D_(i)+Lcos(π/2+L −α))}/v  (2)

The present invention uses values of the velocity v obtained from thedirect signal between a source and a plurality of receivers in the tool.A peak in the semblance such as 300 in FIG. 6 has a near-receiver timeand a slowness associated with it. The slowness is the difference intime of arrival between two receivers divided by the distance betweenthe receivers. Hence knowing the distance from the transmitter to thenear receiver and the slowness, equation (2) makes it possible todetermine the distance d from the transmitter to the reflecting boundaryas well as the orientation of the transmitter-receiver assembly to thereflecting boundary. Those versed in the art would recognize that,instead of the near-receiver distance, any reference receiver could beused, with a corresponding reference receiver time and slowness.

Those versed in the art would recognize that the relation between thetravel time and the source-receiver distance can be exactly described bya hyperbola. Conventional seismic prospecting relies on this relation toperform the process of “migration” of seismic reflections. In seismicprospecting, the source-receiver distances are typically small incomparison with the depths to the reflectors and the angle of incidenceis typically small (less than 45°). In seismic prospecting, azero-offset intercept time is used where the slowness scans areperformed (rather than the minimum source-receiver offset as in thepresent invention). A hyperbola in the time-distance domain maps into anellipse in the slowness-time intercept domain. The method of the presentinvention relies on the fact that where the source-receiver distancesare large in comparison with the distance to the boundary, thetime-distance relation within the spatial sampling window can beapproximated by a straight line. A straight line in the time-distancedomain maps into a point in the slowness/intercept-time domain, so thatthe semblance of a reflection arrival would be a single well definedpeak in the slowness/intercept-time domain. Due to deviation fromlinearity in the time-distance domain and to measurement noise, themeasured coherence will be smeared.

With slight modification (to account for deviation from linearity), themethod of the present invention could also be used where source-receiverdistances are small in comparison with distances to bed boundaries, andalso where receivers are disposed on both sides of the source. Suchmodifications are intended to be within the scope of the presentinvention.

With this as background, the processing steps of the present inventionwould be better understood.

FIG. 8 schematically illustrates the important steps of the presentinvention. Processing starts at an initial position of the downhole tool310. The signals from all the receivers at this location are gathered312 to give data such as traces 260 a-260 d in FIG. 5. A thresholdfiltering for attenuating body waves, described below in reference toFIGS. 12 and 13, is applied. The semblance of the data in theslowness-time domain is determined 314 to give data such as shown by thedisplay in FIG. 6. As noted above, color displays or gray-scale displaysare better suited for the purpose.

Next, the semblance data are filtered 316. Supplemental information,such as seismic data, logs at nearby wells, well survey data, etc., cangive an indication of approximately where the bed boundary is withrespect to the downhole device. By the use of equations (2), this givesan estimate of where in the slowness-time domain bed boundaryreflections are likely to be present, defining a zone of interest. Datawithin the zone of interest are used for the next step 318.

There are two aspects to the filtering of the data. One aspect is thatof semblance or coherence filtering, which makes use of the coherence ofthe data. In one embodiment of the invention, a coherence distributionof the data is obtained, the local maxima of the coherence or semblancevalues are determined, and a selection of an acceptable range ofcoherence values is made. The other aspect of the filtering is aslowness filtering that uses the semblance of the data. As discussedabove, in one embodiment of the invention, this includes the selectionof a range of expected values of the slowness based upon supplementalinformation. The filtering step is schematically illustrated in FIG. 9which is a representation of semblance plot of data. The abscissa 380 isthe arrival time and the ordinate 384 is the slowness. The zone between384 a and 384 b defines the range of slownesses that would be expectedfrom a priori considerations. The semblance data shown three maxima,indicated by 390, 392, and 394. In this instance, the peak at 390corresponds to the actual reflection of body waves emanating from thetransmitter, reflected by the bed boundary and received at the receiver.The higher semblance contours 392, 394 correspond to tube waves that arepropagated along the borehole and are generally stronger than reflectionsignals. Only data between lines 384 a and 384 b that have a semblancevalue greater than a prespecified threshold V_(min) and less than aprespecified maximum value V_(max) are analyzed by the next step 318.

At step 318, a histogram is produced that represents the coherence ofdata passing the requirements of the tests at 316. FIG. 10 shows such ahistogram where the abscissa is the coherence value (between V_(min) andV_(max)) and the ordinate is the number of points in the coherence plothaving that value. The respective values of V_(min) and V_(max) aretypically 0.3 and 0.6 while the bin size of the histogram is 5% of thisinterval, i.e., 0.015. This histogram shows maxima 400, 402 at thecoherence values of 400 a, 402 a. The process uses a known, prior artpeak-finding technique to identify the maxima. The points in FIG. 9 thatcorrespond to the peaks and the vicinity of the peaks are passed on tothe step 320 for further processing. A check is made to see if data forall the tool positions have been analyzed at 324. If not, the processingproceeds to the next tool position 326 and the steps starting at 312 arerepeated. If all the tool positions have been analyzed, the processcontinues to step 340.

The data passed to the side step 320 use the known velocity from 322 andequations (2) to determine a distance to bed boundary and a dip anglecorresponding to each data point passed from 318. As noted above, whendealing with compressional wave reflections, a compressional wavevelocity would be used whereas when processing shear wave reflections, ashear wave velocity would be used. These intermediate results 328 areaccumulated until the process is ready for the final step 340.

The next step 340 has as its input all the intermediate results from 328and the other information from 330. The intermediate results, asdiscussed above, consist of estimates of the distance to the bedboundary and the angle, both being referenced to the tool position.Combining this with the other information 330 that includes surveyinformation about the tool position and its orientation makes itpossible to display the intermediate results as a function of absoluteposition. This is schematically illustrated in FIG. 11 where theabscissa 420 is the time from the tool to the bed boundary and theordinate 424 is the absolute depth of the tool. The “traces” 426 aredisplays of the coherence from the intermediate results 328. Alsodisplayed in FIG. 11 is a window defined by lines 430 a, 430 b thatgives the region in which the bed boundary is expected to be on thebasis of the other information 330. Within this window, a coherencylineup denoted by 440 gives the correct position of the bed boundary onthe basis of the data recorded by the sonic tool. This coherency lineupwithin the window defined by 430 a, 430 b may be determined by methodsknown in the art.

As noted above, the present invention includes a prefiltering operationfor attenuation of body waves through the body of the tool. Referringnow to FIG. 12, an example of recorded signals obtained with the toolare shown. The abscissa 502 is the arrival time and the ordinate 504 isthe distance from the transmitter to the receiver. Although the use ofacoustic isolators 206 or 210 (see FIG. 3A) reduces the amplitude of thebody waves the semblance peak corresponding to these waves may still bevery high due to the high coherence (similarity) of signalscorresponding to these waves. The body waves constitute the primaryportions of the signals between the lines 506 a and 506 b in FIG. 12.Turning now to FIG. 13A, the semblance plot of the processed data at 318in FIG. 8 is illustrated for data such as that from FIG. 12. Theabscissa 552 is the arrival time and the ordinate 554 is the slowness.The semblance of the signals reflected from the formation boundary showsup as the contours 560. As can be seen, there is another high semblancevalue peak seen at 562 that corresponds to the body waves in FIG. 12.

In order to remove or reduce this peak on the semblance plot a thresholdfiltering is applied to the signals prior to the semblance processing.The threshold TR_(i) for each of the signals f_(i)(j) is defined as

Tr _(i)=αmax(G(f _(i)(j))),  (3)

where G is a functional operating on the signal, and α(0≦α≦1)—is apreset number defining a part of the functional's maximum used as athreshold. In one embodiment of the invention, the functional is anabsolute value functional, i.e., G(.)=|. In another embodiment of theinvention, the functional is a summation or integral. $\begin{matrix}{{G( {f_{i}(j)} )} = {\frac{1}{{2m} + 1}{\sum\limits_{k = {j - m}}^{k = {j + m}}\quad {{f_{i}(k)}}}}} & (4)\end{matrix}$

where m is an integer and the coefficient in front of the sum serves asa normalization factor.

Those versed in the art would recognize that the absolute value functionfor the functional G usually usually corresponds to the fluid wavearrival and therefore may be viewed as a set percentage of the absoluteamplitude of the fluid wave. After Tr_(i) is determined for each signalwe set to zero the initial parts of each signal

f _(i)(j)=0,for1≦j_<j_(i),  (5)

where index j_(i) is given for each signal by

j _(i)=min_(j)(abs(f _(i)(j))>Tr).  (6)

FIG. 13b shows the result of applying this prefiltering at 312 in FIG. 8to the data. As in FIG. 13a, the abscissa 572 is the arrival time andthe ordinate 574 is the slowness. As can be seen, the semblance peakcorresponding to the body wave (562 in FIG. 13a) is gone and thesemblance peak 578 corresponding to the reflection signal from theformation boundary is unmistakable.

The foregoing description is directed to particular embodiments of thepresent invention for the purpose of illustration and explanation. Itwill be apparent, however, to one skilled in the art that manymodifications and changes to the embodiment set forth above are possiblewithout departing from the scope and the spirit of the invention. It isintended that the. following claims be interpreted to embrace all suchmodifications and changes.

What is claimed is:
 1. A downhole tool for determination of the positionand orientation of a bed boundary in a formation surrounding a wellboreduring drilling of the wellbore, the downhole tool comprising: (a) atransmitter for transmitting acoustic signals at at least one positionin the wellbore during drilling of the wellbore, said acoustic signalshaving an acoustic velocity; (b) a plurality of spaced apart receiversfor detecting signals including reflected signals from the bed boundary;and (c) a processor for prefiltering the detected signals using aprefilter based upon a threshold determination for selectivelyattenuating unwanted signal components traveling between the transmitterand the plurality of receivers and providing prefiltered signals, theprocessor further using said acoustic velocity and the prefilteredsignals for determining a distance and orientation of the bed boundaryrelative to the tool.
 2. The downhole tool of claim 1 further comprisingan acoustic isolator between the transmitter and the plurality of spacedapart receivers, said isolator attenuating body waves present in saidunwanted signal components.
 3. The downhole tool of claim 1 wherein theat least one position comprises a plurality of positions and theprocessor is further adapted to process the data from said plurality ofpositions to determine therefrom the absolute depth and position of thebed boundary corresponding to said plurality of positions.
 4. Thedownhole tool of claim 1 wherein the processor determines a plurality ofsemblances of the prefiltered signals in a slowness domain to determinethe distance and orientation of the bed boundary relative to the tool.5. The downhole tool of claim 2 wherein the processor determines aplurality of semblances of the prefiltered signals in a slowness domainto determine the absolute depth and position of the bed boundarycorresponding to said plurality of positions.
 6. The downhole tool ofclaim 4 wherein the processor determines the absolute position of thebed boundary using said semblances and a predetermined window.
 7. Thedownhole tool according to claim 4, wherein the plurality of receiversinclude a near receiver which is utilized for determining a nearreceiver travel time.
 8. The downhole tool of claim 1 wherein arrivaltimes of reflected signals at the plurality of receivers are one of (i)a hyperbolic function of a transmitter to receiver distance, and (ii) alinear function of a transmitter to receiver distance.
 9. The downholetool of claim 1 wherein the reflected signals comprise at least one of(i) compressional waves, and (ii) shear waves.
 10. A method ofdetermining the position of a bed boundary during the drilling of awellbore, comprising: (a) using a transmitter on a downhole tool totransmit acoustic signals at at least one downhole location; (b) using aplurality of spaced apart receivers on the downhole tool to receiveacoustic signals, said received signals including reflected signals fromthe bed boundary and unwanted signals traveling from the transmitter tothe plurality of receivers; (c) using a processor for prefiltering thereceived signals based on a threshold determination and selectivelyattenuating the unwanted signals, giving a plurality of prefilteredsignals; and (d) using the processor for determining a relative positionand orientation of the bed boundary with respect to the downhole toolfrom the plurality of prefiltered signals.
 11. The method of claim 10wherein the prefiltering further comprises applying a threshold filterbased upon an absolute maximum value of the received signals following asemblance processing.
 12. The method of claim 10 wherein the at leastone downhole location comprises a plurality of downhole locations, themethod further comprising: (i) providing the processor with supplementaland survey information relating to a position and orientation of thedownhole tool at the plurality of downhole locations; and (ii) using theprocessor to determine an absolute position and orientation of the bedboundary from the determined relative position and orientation of thebed boundary, the survey information relating to the position andorientation of the tool, and the supplemental information.
 13. Themethod of claim 10 wherein the determination of the relative positionfurther comprises using the processor to determine a plurality ofsemblances of the received signals in a slowness domain.
 14. The methodof claim 13 wherein the determination of the absolute position furthercomprises using the processor to analyze said plurality of semblances toobtain a set of maxima of the semblances.
 15. The method of claim 10wherein arrival times of the reflected signals at the plurality ofreceivers are at least one of (i) a linear function of a transmitter toreceiver distance, and (ii) a hyperbolic function of a transmitter toreceiver distance.
 16. The method of claim 10 wherein the reflectedsignals are at least one of (i) compressional waves, and (ii) shearwaves.
 17. The method of claim 10 further comprising using an attenuatoron the downhole tool for attenuating the body waves.
 18. A method ofdetermining the position of a bed boundary during the drilling of awellbore, comprising: (a) using a transmitter on a downhole tool totransmit acoustic signals at a plurality of downhole locations of thetool; (b) using a plurality of spaced apart receivers on the downholetool to receive acoustic signals reflected by the bed boundary at eachof said plurality of spaced apart receivers at each of said plurality ofdownhole locations; and (c) using a processor at each of said pluralityof downhole locations to: (i) prefiltering the received signals toattenuate an unwanted portion of the acoustic signals traveling from thetransmitter to the receiver; (ii) determining semblances of the signalsreceived by the plurality of receivers in a slowness-minimum offset timedomain, (ii) filtering the determined semblances to give a set offiltered semblances, (iii) determining from said set of filteredsemblances and a velocity of the acoustic signals, a relative positionand orientation of the bed boundary with respect to the tool, and (d)determining an absolute position and depth of the boundary from saidrelative positions and orientations and from supplemental information.19. The method of claim 18, wherein the step of using the processor tofilter the determined semblances comprises at least one of (i) acoherence filtering, and, (ii) a semblance filtering.
 20. The method ofclaim 18 wherein the prefiltering further comprises applying a thresholdfilter based upon an absolute maximum value of the received signals.